Commit dd400cb3 authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

Add missing parameters (for torque/joint vel limits) to config file of romeo

parent 46a9abe0
......@@ -30,6 +30,11 @@ w_com = 1.0 # weight of center of mass task
w_foot = 1e-1 # weight of the foot motion task
w_posture = 1e-4 # weight of joint posture task
w_forceRef = 1e-5 # weight of force regularization task
w_torque_bounds = 1.0 # weight of the torque bounds
w_joint_bounds = 0.0
tau_max_scaling = 1.45 # scaling factor of torque bounds
v_max_scaling = 0.8
kp_contact = 10.0 # proportional gain of contact constraint
kp_foot = 10.0 # proportional gain of contact constraint
......
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